Project 1Constructing cubic structures such as pyramids, walls, towers, and castles with rod elements |
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A single degree of freedom gripper made of acrylic actuated by a servo motor with a layer of foam to facilitate grasping |
Special Cubic Structures construction algorithm and Wavefront Raster (WFR) Algorithm, VICON motion tracking system, and Robot Operating System (ROS)-MATLAB bridge |
[94], [98], [99], [110], [111] |
Project 2Prototype of a high-rise building based on the principles of balance and stabilization of 1500 polystyrene brick elements |
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Ingressive grippers. The gripper consists of three metal pins, each actuated by a single servo. The servos and pins are mounted to a three-dimensional, printed rigid gripper base, arranged in a circle with 120° of separation |
A network of intercommunicating computer programs using Python, Rhino, a real-time camera system, and a motion capture system |
[94], [100], [103], [112] |
Project 3Creation of tensile structures in the architectural construction production process with the help of durable ropes |
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A passive roller to deploy the Dyneema rope |
Force control system, an algorithm (specified by heading, position, velocity, and acceleration), and motion capture system |
[91], [104], [113], [114] |
Project 4Realization of structure production based on the basic principles of space frame structures with rod elements |
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Styrofoam balls (granular filling material contained in a balloon membrane) |
Force control system and ROS |
[35], [103] |
Project 5Making a bridge design with polyethylene ropes according to the knots and connection points of the ropes |
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Custom 3–4 mm Dyneema rope dispensers mounted in the centre |
Rhinoceros 3D - Grasshopper, computational simulation techniques (physics engines), Autodesk Maya, Parallel Tracking and Mapping (PTAM), and ROS |
[35], [105], [115], [116] |
Project 6Creation of cantilever structure with fiber composite fabric material between two robotic arms with drone |
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Hydraulic gripper for gripping the winding effector of carbon fibre-reinforced composite material |
ROS and a custom-developed web interface |
[107], [108], [117], [118] |
Project 7Obtaining a roof canopy by combining modular carbon fiber framed units with a polyhedron shape |
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The gripper, the locomotion body, and the localization system are attached to each other via dampening springs. The gripper uses hooks to attach to each unit |
PID control (proportional-integral-derivative control) system, ROS, and a set of Web Applications over WebSocket protocol |
[109], [119], [120] |